LibrePilot/ground/openpilotgcs/src/plugins/hitl/hitlconfiguration.cpp

/**
 ******************************************************************************
 *
 * @file       hitlconfiguration.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup HITLPlugin HITL Plugin
 * @{
 * @brief The Hardware In The Loop plugin
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "hitlconfiguration.h"

HITLConfiguration::HITLConfiguration(QString classId, QSettings *qSettings, QObject *parent) :
    IUAVGadgetConfiguration(classId, parent)
{
    // Default settings values
    settings.simulatorId          = "";
    settings.binPath              = "";
    settings.dataPath             = "";
    settings.manualControlEnabled = true;
    settings.startSim             = false;
    settings.addNoise             = false;
    settings.hostAddress          = "127.0.0.1";
    settings.remoteAddress        = "127.0.0.1";
    settings.outPort              = 0;
    settings.inPort = 0;
    settings.latitude             = "";
    settings.longitude            = "";

    settings.attRawEnabled        = false;
    settings.attRawRate           = 20;

    settings.attStateEnabled      = true;
    settings.attActHW             = false;
    settings.attActSim            = true;
    settings.attActCalc           = false;

    settings.gpsPositionEnabled   = false;
    settings.gpsPosRate           = 100;

    settings.groundTruthEnabled   = false;
    settings.groundTruthRate      = 100;

    settings.inputCommand         = false;
    settings.gcsReceiverEnabled   = false;
    settings.manualControlEnabled = false;
    settings.minOutputPeriod      = 100;

    settings.airspeedStateEnabled = false;
    settings.airspeedStateRate    = 100;


    // if a saved configuration exists load it, and overwrite defaults
    if (qSettings != 0) {
        settings.simulatorId   = qSettings->value("simulatorId").toString();
        settings.binPath       = qSettings->value("binPath").toString();
        settings.dataPath      = qSettings->value("dataPath").toString();

        settings.hostAddress   = qSettings->value("hostAddress").toString();
        settings.remoteAddress = qSettings->value("remoteAddress").toString();
        settings.outPort       = qSettings->value("outPort").toInt();
        settings.inPort = qSettings->value("inPort").toInt();

        settings.latitude      = qSettings->value("latitude").toString();
        settings.longitude     = qSettings->value("longitude").toString();
        settings.startSim      = qSettings->value("startSim").toBool();
        settings.addNoise      = qSettings->value("noiseCheckBox").toBool();

        settings.gcsReceiverEnabled   = qSettings->value("gcsReceiverEnabled").toBool();
        settings.manualControlEnabled = qSettings->value("manualControlEnabled").toBool();

        settings.attRawEnabled        = qSettings->value("attRawEnabled").toBool();
        settings.attRawRate           = qSettings->value("attRawRate").toInt();

        settings.attStateEnabled      = qSettings->value("attStateEnabled").toBool();
        settings.attActHW = qSettings->value("attActHW").toBool();
        settings.attActSim = qSettings->value("attActSim").toBool();
        settings.attActCalc           = qSettings->value("attActCalc").toBool();

        settings.baroSensorEnabled    = qSettings->value("baroSensorEnabled").toBool();
        settings.baroAltRate          = qSettings->value("baroAltRate").toInt();

        settings.gpsPositionEnabled   = qSettings->value("gpsPositionEnabled").toBool();
        settings.gpsPosRate           = qSettings->value("gpsPosRate").toInt();

        settings.groundTruthEnabled   = qSettings->value("groundTruthEnabled").toBool();
        settings.groundTruthRate      = qSettings->value("groundTruthRate").toInt();

        settings.inputCommand         = qSettings->value("inputCommand").toBool();
        settings.minOutputPeriod      = qSettings->value("minOutputPeriod").toInt();

        settings.airspeedStateEnabled = qSettings->value("airspeedStateEnabled").toBool();
        settings.airspeedStateRate    = qSettings->value("airspeedStateRate").toInt();
    }
}

IUAVGadgetConfiguration *HITLConfiguration::clone()
{
    HITLConfiguration *m = new HITLConfiguration(this->classId());

    m->settings = settings;
    return m;
}

/**
 * Saves a configuration.
 *
 */
void HITLConfiguration::saveConfig(QSettings *qSettings) const
{
    qSettings->setValue("simulatorId", settings.simulatorId);
    qSettings->setValue("binPath", settings.binPath);
    qSettings->setValue("dataPath", settings.dataPath);

    qSettings->setValue("hostAddress", settings.hostAddress);
    qSettings->setValue("remoteAddress", settings.remoteAddress);
    qSettings->setValue("outPort", settings.outPort);
    qSettings->setValue("inPort", settings.inPort);

    qSettings->setValue("latitude", settings.latitude);
    qSettings->setValue("longitude", settings.longitude);
    qSettings->setValue("addNoise", settings.addNoise);
    qSettings->setValue("startSim", settings.startSim);

    qSettings->setValue("gcsReceiverEnabled", settings.gcsReceiverEnabled);
    qSettings->setValue("manualControlEnabled", settings.manualControlEnabled);

    qSettings->setValue("attRawEnabled", settings.attRawEnabled);
    qSettings->setValue("attRawRate", settings.attRawRate);
    qSettings->setValue("attStateEnabled", settings.attStateEnabled);
    qSettings->setValue("attActHW", settings.attActHW);
    qSettings->setValue("attActSim", settings.attActSim);
    qSettings->setValue("attActCalc", settings.attActCalc);
    qSettings->setValue("baroSensorEnabled", settings.baroSensorEnabled);
    qSettings->setValue("baroAltRate", settings.baroAltRate);
    qSettings->setValue("gpsPositionEnabled", settings.gpsPositionEnabled);
    qSettings->setValue("gpsPosRate", settings.gpsPosRate);
    qSettings->setValue("groundTruthEnabled", settings.groundTruthEnabled);
    qSettings->setValue("groundTruthRate", settings.groundTruthRate);
    qSettings->setValue("inputCommand", settings.inputCommand);
    qSettings->setValue("minOutputPeriod", settings.minOutputPeriod);

    qSettings->setValue("airspeedStateEnabled", settings.airspeedStateEnabled);
    qSettings->setValue("airspeedStateRate", settings.airspeedStateRate);
}